본 발명은 무인반송 시스템에 관한 것으로, 더욱 상세하게는 다수의 무인반송차를 구비하고, 이를 효율적인 운용을 하기 위한 무인반송 시스템의 제어방법에 관한 것이다.The present invention relates to an unmanned transport system, and more particularly, to a control method of an unmanned transport system having a plurality of unmanned transport vehicles, for efficient operation thereof.
일반적으로 무인반송 시스템은 물건의 적재, 운반을 자동화하기 위한 것으로 무인 반송차(Auto Guided Vehicle; AGV)를 이용한다. 통상 무인반송차는 바닥에 설치된 가이드 라인을 따라 적재물을 이동시키는 장치이다. 상기한 무인반송차는 이동하는 이동경로 상에 마그네트 테이프로된 연속적인 가이드라인을 설치하고, 마그네트 센서를 통하여 그 가이드라인을 검출함으로써 연속적인 가이드라인을 따라 무인반송차가 주행을 한다.In general, an unmanned transport system uses an Auto Guided Vehicle (AGV) to automate the loading and transport of goods. In general, an unmanned carrier is a device for moving a load along a guide line installed at the bottom. The unmanned carrier carries a continuous guideline made of magnet tape on a moving path and detects the guideline through a magnet sensor so that the unmanned carrier runs along the continuous guideline.
도 1은 종래의 무인반송 시스템의 동작을 설명하기 위한 설명도이다.1 is an explanatory diagram for explaining the operation of the conventional unmanned transfer system.
도 1을 참조하면, 종래의 무인반송시스템은 다수의 작업(J1, J2 및 J3)이 존재하는 이동경로(10) 상에서 하나의 무인반송차(20)가 상기 작업(J1, J2 및 J3)을수행한다. 이때 무인반송차(20)는 메인제어장치(30)로부터 전송되는 작업명령을 수신하고 이동경로(10)를 이동하면서 작업을 수행하는데 수신되는 작업명령의 순서에 따라 작업을 수행한다.Referring to FIG. 1, in the conventional unmanned transportation system, one unmanned vehicle 20 carries out the operations J1, J2, and J3 on a movement path 10 in which a plurality of operations J1, J2, and J3 exist. To perform. At this time, the unmanned vehicle 20 receives the work command transmitted from the main control device 30 and performs the work according to the order of the work command received to perform the work while moving the movement path 10.
도 2는 종래의 무인반송 시스템의 동작을 설명하기 위한 제어 흐름도이다.2 is a control flowchart for explaining the operation of the conventional unmanned transfer system.
도 2를 참조하면, 먼저 무인반송차(20)는 데이터를 초기화를 한다(S10). 데이터의 초기화가 완료되면 메인제어장치(30)로부터 작업명령을 받아 수행할 작업내용을 설정한다(S20). 이때 무인반송차(20)는 선입선출 룰에 따라 메인제어장치(30)로부터 전달받은 작업명령을 수신된 순서대로 작업내용을 설정한다.Referring to FIG. 2, first, the unmanned vehicle 20 initializes data (S10). When the initialization of the data is completed, and receives the work command from the main control device 30 to set the work content to be performed (S20). At this time, the unmanned vehicle 20 sets the work contents in the order in which the work commands received from the main control device 30 are received according to the first-in first-out rule.
무인반송차(20)는 작업을 실시할 준비가 완료되었는지를 판단한다(S30). 단계(S30)에서 작업준비가 완료되었다고 판단되면 단계(S20)에서 설정된 작업내용에 따라 무인반송차(20)는 이동경로(10)를 이동하면서 작업을 실시한다(S40). 이때 무인반송차(20)는 전술한 바와 같이 선입선출의 룰에 따라 먼저 받은 명령을 먼저 수행한다. 그리고 현재의 작업이 완료되었는지를 판단하다(S50). 단계(S50)에서 현재 작업이 완료되었다고 판단되면 명령받은 모든 작업이 종료되었는지를 판단한다(S60). 단계(S60)에서 모든 작업이 완료되었다고 판단되면 종료한다.The unmanned vehicle 20 determines whether it is ready to perform the operation (S30). When it is determined that the work preparation is completed in step S30, the unmanned vehicle 20 performs the work while moving the movement path 10 according to the work contents set in the step S20 (S40). At this time, the unmanned vehicle 20 performs the command received first according to the first-in, first-out rule as described above. And it is determined whether the current work is completed (S50). If it is determined in step S50 that the current job is completed, it is determined whether all of the commanded jobs are finished (S60). If it is determined in step S60 that all the work is completed, the process ends.
전술한 바와 같이 종래의 무인반송시스템은 이동경로상에 하나의 무인반송차를 구비하고 선입선출의 룰에 따라 먼저 입력된 작업명령을 먼저 수행한다. 즉, 작업순서가 작업 J1 - 작업 J3 - 작업 J2의 순서일 경우 무인반송차(20)는 작업 J1을 수행한 후 J2를 통과하여 작업 J3의 위치까지 이동한 후 작업 J3을 실시한다. 그리고 나서 무인반송차(20)는 다시 J2의 위치까지 이동한 후 작업 J2를 실시한다.As described above, the conventional unmanned transport system includes one unmanned transport vehicle on a movement path and first performs a work command inputted first according to a first-in first-out rule. That is, when the work order is the order of job J1-job J3-job J2, the unmanned vehicle 20 performs the job J1 and then moves through the J2 to the position of the job J3 and then performs the job J3. Then, the unmanned vehicle 20 moves to the position of J2 again, and performs the operation J2.
따라서 종래의 무인반송 시스템은 한 이동경로상에 하나의 무인반송차를 이용하고 거리에 관계없이 먼저 발생된 작업을 먼저 수행하기 때문에 이동거리가 불필요하게 길어지고, 이에 따라 상당한 작업시간이 소요되었기 때문에 작업의 효율성이 떨어지고 이로 인하여 생산성이 저하되는 문제점이 있었다.Therefore, the conventional unmanned transportation system unnecessarily lengthens the moving distance because it uses one unmanned vehicle on one movement path and performs the work that occurred first regardless of the distance. There is a problem that the efficiency of the work is reduced and thereby the productivity is lowered.
본 발명은 이와 같은 문제점을 해결하기 위한 것으로, 다수의 무인반송차를 구비하고, 이를 효율적인 운용을 하기 위한 무인반송 시스템의 제어방법을 제공하는 것을 목적으로 한다.An object of the present invention is to provide a control method of an unmanned transport system for providing a plurality of unmanned transport vehicles and efficient operation thereof.
도 1a는 종래의 무인반송시스템을 설명하기 위한 설명도이다.1A is an explanatory diagram for explaining a conventional unmanned transfer system.
도 1b는 종래의 무인 반송시스템의 제어방법을 설명하기 위한 제어 흐름도이다.1B is a control flowchart for explaining a control method of a conventional unmanned carrier system.
도 2는 본 발명에 따른 무인반송차의 구성을 설명하기 위한 블록도이다.2 is a block diagram illustrating the configuration of an unmanned carrier vehicle according to the present invention.
도 3은 본 발명에 따른 무인반송차의 경로검출을 설명하기 위한 블록도이다.3 is a block diagram illustrating the path detection of the unmanned vehicle according to the present invention.
도 4는 본 발명에 따른 무인 반송시스템의 구성을 설명하기 위한 블록도이다.4 is a block diagram illustrating the configuration of an unmanned carrier system according to the present invention.
도 5는 본 발명에 따른 무인반송시스템의 제어방법을 설명하기 위한 흐름도이다.5 is a flowchart illustrating a control method of the unmanned transport system according to the present invention.
도 6은 본 발명에 따른 무인반송시스템의 제어방법 설명하기 위한 상세 흐름도이다.6 is a detailed flowchart illustrating a control method of the unmanned transport system according to the present invention.
도 7은 종래와 본 발명에 따른 무인반송시스템의 제어방법의 차이점을 설명하기 위한 설명도이다.7 is an explanatory diagram for explaining the difference between the conventional method and the control method of the unmanned transfer system according to the present invention.
* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings
100A:제 1 무인반송차 100B:제 2 무인반송차100A: 1st Unmanned Carrier 100B: 2nd Unmanned Carrier
110:입력부 120:자이로센서110: input unit 120: gyro sensor
131:제 1 트랙감지부 132:제 2 트랙감지부131: first track detection unit 132: second track detection unit
140:이동거리감지부 150:저장부140: moving distance detection unit 150: storage unit
160:제어부 170:주행부160: control unit 170: driving unit
180:로봇부 190:인터페이스부180: robot unit 190: interface unit
200:메인제어장치200: main controller
상기 목적을 달성하기 위한 본 발명에 따른 물류반송 시스템의 제어방법은,각 무인반송차의 작업소요시간에 따라 작업경로를 설정하는 설정단계, 상기 설정단계의 설정내용에 따라 상기 무인반송차를 제어하는 제어단계를 포함하는 것을 특징으로 한다.In the control method of the logistics transport system according to the present invention for achieving the above object, a setting step of setting the work path according to the work time of each unmanned carrier, control the unmanned carrier according to the setting contents of the setting step It characterized in that it comprises a control step.
이하에서는 본 발명에 따른 바람직한 실시 예를 첨부 도면을 참조하여 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 2는 본 발명에 따른 무인반송차의 구성을 설명하기 위한 블록도이다.2 is a block diagram illustrating the configuration of an unmanned carrier vehicle according to the present invention.
도 2를 참조하면, 본 발명에 따른 무인반송차(100)는, 전체 동작을 제어하기 위한 제어부(160)를 구비하며, 무인반송차(!00)의 작동을 설정하기 위한 입력부(110)가 상기 제어부(160)와 접속된다. 상기 입력부(110)는 수동으로 정보를입력하기 위한 키입력부를 포함한다.Referring to FIG. 2, the unmanned vehicle 100 according to the present invention includes a controller 160 for controlling the overall operation, and the input unit 110 for setting the operation of the unmanned vehicle (! 00) is provided. It is connected to the control unit 160. The input unit 110 includes a key input unit for manually inputting information.
또한 본 발명에 따른 무인반송차(100)는, 무인반송차(100)의 이동 경로상에 마련된 가이드태그를 검출하며 무인반송차(100)의 전단에 마련되는 제 1 트랙감지부(131) 및 무인반송차(100)의 후단에 마련되는 제 2 트랙감지부(132)와, 무인반송차(100)의 이동거리를 검출하기 위한 이동거리 감지부(140)가 제어부(160)와 전기적으로 접속된다. 또한 본 발명에 따른 무인반송차(100)는 무인반송차(100)의 제어프로그램과 상기 입력부(110)를 통하여 입력된 정보 및 작동 중 발생하는 데이터를 저장하는 저장부(150)를 구비하며, 상기 저장부(150)는 제어부(160)와 전기적으로 접속된다. 또한 본 발명에 따른 무인반송차(100)는 제어부(160)의 제어에 따라 휠(미도시)을 구동하여 무인반송차(100)를 이동시키는 주행부(170)와, 제어부(160)의 제어에 따라 로봇을 구동하는 로봇구동부(180)를 포함한다. 또한 메인제어장치(200)와 무선접속할 수 있도록 인터페이스부(190)가 제어부(160)에 접속된다.In addition, the unmanned transport vehicle 100 according to the present invention detects a guide tag provided on a moving path of the unmanned transport vehicle 100 and is provided with a first track sensing unit 131 provided at the front end of the unmanned transport vehicle 100 and The second track detecting unit 132 provided at the rear end of the unmanned vehicle 100 and the moving distance detecting unit 140 for detecting the moving distance of the unmanned vehicle 100 are electrically connected to the control unit 160. do. In addition, the unmanned vehicle 100 according to the present invention includes a control program for the unmanned vehicle 100 and a storage unit 150 for storing information input during the operation and information input through the input unit 110, The storage unit 150 is electrically connected to the control unit 160. In addition, the unmanned vehicle 100 according to the present invention drives the wheel (not shown) under the control of the control unit 160, the driving unit 170 for moving the unmanned vehicle 100, and the control of the controller 160 In accordance with the robot driving unit 180 for driving. In addition, the interface unit 190 is connected to the controller 160 so as to wirelessly connect with the main controller 200.
전술한 제 1 트랙감지부(131) 및 제 2 트랙감지부(132)는 상기 가이드 태그를 검출하기 위한 것으로 자기장을 감지할 수 있는 센서로 구현이 가능하다. 또한 상기 이동거리 감지부(140)는 무인반송차의 주행을 위한 휠에 설치되는 엔코더로 구현이 가능하며, 제어부(160)는 엔코더의 출력 펄스를 카운트하여 주행거리를 산출한다.The first track detection unit 131 and the second track detection unit 132 described above are for detecting the guide tag and may be implemented as a sensor capable of sensing a magnetic field. In addition, the movement distance detecting unit 140 may be implemented as an encoder installed on the wheel for driving of the unmanned vehicle, the controller 160 calculates the driving distance by counting the output pulse of the encoder.
도 3은 본 발명에 따른 가이드 태그를 설명하기 위한 설명도이다.3 is an explanatory diagram for explaining a guide tag according to the present invention.
상기 가이드 태그(320)는 무인반송차(100)의 이동경로(310) 상에 소정거리간격으로 마련되며 소정의 길이를 갖는 마그네틱 태그이다. 상기 가이드 태그(320)는 제 1 및 제 2 트랙감지부(131 및 132) 사이의 거리만큼 이격된 간격으로 한 쌍이 마련된다.The guide tag 320 is a magnetic tag provided at a predetermined distance interval on the movement path 310 of the unmanned vehicle 100 and has a predetermined length. The guide tag 320 is provided in pairs at intervals spaced apart by the distance between the first and second track detection units 131 and 132.
도 4는 본 발명에 따른 무인반송시스템의 구성을 설명하기 위한 블록도이다. 도 4를 참조하면, 이동경로(310)상에는 다수의 작업 J1, J2 및 J3이 위치하며, 각 작업을 행하기 위한 제 1 무인반송차(100A)와 제 2 무인반송차(100B)가 마련된다. 상기 제 1 무인반송차(100A) 및 제 2 무인반송차(100B)는 도 2에 도시한 구성과 동일하다.4 is a block diagram illustrating the configuration of an unmanned transport system according to the present invention. Referring to FIG. 4, a plurality of jobs J1, J2, and J3 are located on the movement path 310, and a first unmanned carrier 100A and a second unmanned carrier 100B are provided to perform each job. . The first unmanned carrier 100A and the second unmanned carrier 100B have the same configuration as that shown in FIG.
이하에서는 본 발명에 따른 동작을 설명하도록 한다.Hereinafter will be described the operation according to the present invention.
도 5 및 도 6은 본 발명에 따른 제어방법을 설명하기 위한 제어 흐름도이다.5 and 6 are control flowcharts illustrating a control method according to the present invention.
먼저 작업설정을 한다(S100). 작업설정을 하기 위해서는 작업내용을 산출한다(S110). 이를 위해 경로상의 작업 및 무인반송차의 수를 설정한다. 그리고 산출된 작업내용에 따라 경우의 수를 산출하다(S120).First work setting (S100). In order to set the job, the job content is calculated (S110). To do this, set the number of tasks and unmanned carriages on the route. And the number of cases is calculated according to the calculated work content (S120).
단계(S120)에서 서로 다른 n개의 작업 을 r개(n≥r)의 무인반송차에 할당했을 경우 경우의 수는 nPr=n!/(n-r)!가 된다. 본 발명의 실시 예와 같이 J1, J2 및 J3의 작업이 있고, 무인반송차가 2대일 경우 3P2= 3!/(3-2)!=6이 된다. 즉, 6가지의 경우가 발생하게 되는데, 각각은 다음과 같다.In the case of assigning n different jobs to r unmanned carriers in step S120, the number becomes nPr = n! / (N-r) !. As in the embodiment of the present invention, when there are operations of J1, J2, and J3, and there are two unmanned carriages, 3P2 = 3! / (3-2)! = 6. That is, six cases occur, each as follows.
1) 작업 J1에 제 1 무인반송차, 작업 J2에 제 2 무인반송차가 할당된 경우1) A first unmanned carrier is assigned to job J1 and a second unmanned carrier is assigned to job J2.
2) 작업 J1에 제 2 무인반송차, 작업 J2에 제 1 무인반송차가 할당된 경우2) A second unmanned carrier is assigned to job J1 and a first unmanned carrier is assigned to job J2.
3) 작업 J2에 제 1 무인반송차, 작업 J2에 제 2 무인반송차가 할당된 경우3) The first unmanned carrier is assigned to job J2 and the second unmanned carrier is assigned to job J2.
4) 작업 J2에 제 2 무인반송차, 작업 J2에 제 1 무인반송차가 할당된 경우4) A second unmanned carrier is assigned to job J2 and a first unmanned carrier is assigned to job J2.
5) 작업 J3에 제 1 무인반송차, 작업 J2에 제 2 무인반송차가 할당된 경우5) The first unmanned carrier is assigned to job J3 and the second unmanned carrier is assigned to job J2.
6) 작업 J3에 제 2 무인반송차, 작업 J2에 제 1 무인반송차가 할당된 경우6) A second unmanned carrier is assigned to job J3 and a first unmanned carrier is assigned to job J2.
또한, 상기한 첫번째의 경우에 대하여 무인반송차가 할당되지 않은 작업, 즉 작업 J3에 대하여 제 1 무인반송차 혹은 제 2 무인반송차가 할당될 수 있다. 이는 상기한 경우 중 나머지 2) 내지 6)의 경우에도 동일하다.In addition, in the first case, the first unmanned carrier or the second unmanned carrier may be allocated to the job to which the unmanned carrier is not assigned, that is, the job J3. The same applies to the other cases 2) to 6).
즉, 본 발명의 실시 예와 같이 J1, J2 및 J3의 작업이 있고, 무인반송차가 2대일 경우, 모두 12가지의 경우의 수가 발생하게 된다.That is, when there are operations of J1, J2, and J3 as in the embodiment of the present invention, and there are two unmanned carriers, all 12 cases are generated.
상기한 12가지의 경우에 대하여 현재 작업에 소용되는 비용을 산출하면 [표 1]과 같이 나타낼 수 있다. 이때 비용은 소요되는 작업시간에 비례한다. 즉, 상기 [표 1]은 제 1 반송차 및 제 2 반송차가 작업 J1, J2 및 J3을 각각 수행하는데 소요되는 비용을 도시한 것이다.For the 12 cases described above, the cost used for the current work may be calculated as shown in [Table 1]. The cost is proportional to the work time required. That is, the above [Table 1] shows the cost for the first and second carriers to perform the operations J1, J2 and J3, respectively.
[표 1]TABLE 1
[표 1]에 따라서 각 무인반송차가 각각의 작업을 수행하는데 소요되는 비용산출이 완료되면, 상기한 12가지의 경우 각각에 대하여 제 1 무인반송차(100A)및 제 2 무인반송차(100B) 각각이 작업 J1, J2 혹은 J3을 수행하는데 소요되는 총 비용을 산출한다. 이에 따라 상기 12가지 경우마다 각각 제 1 무인반송차(100A) 및 제 2 무인반송차(100B)의 총 소요비용이 산출된다(S130).According to Table 1, when the cost calculation for each unmanned carrier is completed, the first unmanned carrier 100A and the second unmanned carrier 100B for each of the above 12 cases are completed. Estimate the total cost of each to perform job J1, J2 or J3. Accordingly, in each of the 12 cases, the total required cost of the first unmanned carrier 100A and the second unmanned carrier 100B is calculated (S130).
메인제어장치(200)는 12가지 경우의 각각 마다 제 1 무인반송차(100A)의 총 소요비용과 제 2 무인반송차(100B)의 총 소요비용 중 큰 값을 산출한다. 그리고 12가지 경우의 산출된 값 중 가장 작은 값을 가지는 경우를 선택한다(S140).The main controller 200 calculates a larger value of the total cost of the first unmanned vehicle 100A and the total cost of the second unmanned vehicle 100B in each of the 12 cases. Then, the case having the smallest value among the calculated values of 12 cases is selected (S140).
그리고 메인제어장치(200)는 상기 선택된 경우에 따라 제 1 무인반송차(100A) 및 제 2 무인반송차(100B)에 의한 작업 J1, J2 및 J3의 작업경로를 설정한다(S150).The main controller 200 sets the work paths of the jobs J1, J2, and J3 by the first unmanned vehicle 100A and the second unmanned vehicle 100B according to the selected case (S150).
메인제어장치(200)는 설정된 작업경로(310)에 따른 작업명령을 제 1 무인반송차(100A) 및 제 2 무인반송차(100B)로 전송한다(S160). 이에 따라 제 1 무인반송차(100A) 및 제 2 무인반송차(100B)는 메인제어장치(200)가 전송하는 작업명령에 따라 작업할 무인반송차를 설정(S200)하게 되고 작업을 실시한다(S300).The main control apparatus 200 transmits a work command according to the set work path 310 to the first unmanned carrier 100A and the second unmanned carrier 100B (S160). Accordingly, the first unmanned vehicle 100A and the second unmanned vehicle 100B set an unmanned carrier to work according to a work command transmitted from the main control apparatus 200 (S200) and perform work ( S300).
도 7은 종래와 본 발명에 따른 무인반송시스템의 제어방법의 차이점을 설명하기 위한 설명도이다. 도 7을 참조하면, 본 발명에 따른 무인반송시스템의 제어방법에 의하면 △T만큼의 시간이 절감됨으로써 전체 작업완료시간을 감소시킴을 알 수 있다.7 is an explanatory diagram for explaining the difference between the conventional method and the control method of the unmanned transfer system according to the present invention. Referring to Figure 7, according to the control method of the unmanned transfer system according to the present invention it can be seen that by reducing the time by ΔT to reduce the overall work completion time.
전술한 바와 같이 본 발명에 따른 무인반송시스템의 제어방법에 의하면, 현재의 작업뿐만이 아니라 다음 진행될 작업을 고려하여 최적의 작업경로를 제어함으로써 작업시간을 절감할 수 있어 생산성을 향상시키는 효과가 있으며, 다양한 형태의 무인반송시스템에 적용할 수 있다.As described above, according to the control method of the unmanned transfer system according to the present invention, it is possible to reduce the working time by controlling the optimum work path in consideration of the work to be carried out as well as the current work, thereby improving productivity. It can be applied to various types of unmanned transport systems.
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| KR10-2002-0038751AExpired - Fee RelatedKR100461869B1 (en) | 2002-07-04 | 2002-07-04 | Control method of conveying system |
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